A dual stator fault tolerant electric machine

Abstract

The application relates to the technical field of electric machines, and discloses a double-stator fault-tolerant electric machine, which comprises a machine shell, an outer stator, a rotor and an inner stator which are coaxially sleeved in the machine shell from outside to inside, the outer stator and the inner stator are fixedly connected with the machine shell, and the rotor can rotate around the axis relative to the outer stator and the inner stator; the outer stator is provided with a first outer stator three-phase winding and a second outer stator three-phase winding, the inner stator is provided with a first inner stator three-phase winding and a second inner stator three-phase winding, the first outer stator three-phase winding, the second outer stator three-phase winding, the first inner stator three-phase winding and the second inner stator three-phase winding can jointly drive the rotor to rotate, the output torque is high, the power density is relatively high, the fault tolerance is high, and the reliability is high; when a fault occurs, the power density before and after the fault can be ensured to remain basically unchanged through corresponding regulation and control methods, and constant output of high power density is realized.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a dual-stator fault-tolerant motor. Background Technology

[0002] With the development of aerospace, multi-electric and all-electric aircraft are gradually becoming the future development direction, and replacing traditional hydraulic actuators with electromechanical actuators is an inevitable trend. Electromechanical actuators control the vector nozzles or aerodynamic rudders of aircraft to generate six-degree-of-freedom attitude adjustment torques, ensuring the stability of the aircraft's flight. To ensure the safety of manned or unmanned aircraft, high reliability requirements are placed on the electromechanical actuators, key components of aircraft attitude control. Traditional electromechanical actuators improve reliability through redundancy technology. Traditional electromechanical actuation systems include two or more redundancies. Generally, each redundancy includes a motor, drive system, fault diagnosis system, and mechanical transmission system. Among these, the motor is the fundamental power source upon which the electromechanical actuator relies for normal operation, and its reliability is the most critical factor in ensuring system safety. Redundancy technology is generally divided into two types: cold backup and hot backup. In cold backup, only one motor is working. When one motor fails, the system immediately disconnects the failed motor and activates the backup motor, ensuring that the operating power remains unchanged. In hot backup, multiple motors work simultaneously. When one of the motors fails, the system immediately disconnects the failed motor, and the entire system degrades to half power.

[0003] Power density refers to the ratio of a system's output power to its total mass. For two electromechanical actuators with the same output power, the one with higher power density has a smaller mass. Given the limited energy resources of an aircraft, higher power density means a longer operational time. Therefore, increasing the power density of electromechanical actuators is necessary. Under normal operation, the power density of a hot backup system is twice that of a cold backup system. In the event of a failure, both systems have the same power density. Although redundancy technology offers high reliability, cold backup systems waste power density (one motor is always not working and providing no power), while hot backup systems experience a decrease in power density when a motor fails (the total system power is halved). Therefore, electromechanical actuator systems using redundancy technology cannot guarantee a constant high power density output before and after a failure, which is uneconomical for aircraft. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a dual-stator fault-tolerant motor with high power density, high reliability, and minimal change in power density after a fault occurs.

[0005] To solve the above-mentioned technical problems, the present invention provides a dual-stator fault-tolerant motor, including a housing and an outer stator, a rotor, and an inner stator coaxially mounted in the housing from the outside to the inside. The outer stator and the inner stator are respectively fixedly connected to the housing, and the rotor can rotate about an axis relative to the outer stator and the inner stator.

[0006] The outer stator includes a first iron core and a first winding. The inner circumference of the first iron core is evenly distributed with a plurality of first tooth slots. The first winding is provided in multiple sets, which are evenly distributed around the axis of the rotor. The first winding includes a first A-phase winding, a first X-phase winding, a first B-phase winding, a first Y-phase winding, a first C-phase winding, and a first Z-phase winding arranged in a counterclockwise order. Each phase winding of the first winding is wound in two adjacent first tooth slots with a tooth gap. The first A-phase winding, the first B-phase winding, and the first C-phase winding are combined to form a first three-phase winding of the outer stator. The first X-phase winding, the first Y-phase winding, and the first Z-phase winding are combined to form a second three-phase winding of the outer stator.

[0007] The inner stator includes a second iron core and a second winding. The outer circumference of the second iron core is evenly distributed with multiple second tooth slots. The second winding is provided in multiple sets, which are evenly distributed around the axis of the rotor. The second winding includes a second A-phase winding, a second X-phase winding, a second B-phase winding, a second Y-phase winding, a second C-phase winding, and a second Z-phase winding arranged in a counterclockwise order. Each phase winding of the second winding is wound in two adjacent second tooth slots with alternate teeth. The second A-phase winding, the second B-phase winding, and the second C-phase winding are combined to form a first inner stator three-phase winding. The second X-phase winding, the second Y-phase winding, and the second Z-phase winding are combined to form a second inner stator three-phase winding.

[0008] During normal operation, the first outer stator three-phase winding, the second outer stator three-phase winding, the first inner stator three-phase winding, and the second inner stator three-phase winding are respectively connected to three-phase current. The amplitude of the input current of the first outer stator three-phase winding and the second outer stator three-phase winding is I1, and the amplitude of the input current of the first inner stator three-phase winding and the second inner stator three-phase winding is I2.

[0009] When the first outer stator three-phase winding fails, the input current of the first outer stator three-phase winding is adjusted to 0, and the amplitude of the input current of the second outer stator three-phase winding is adjusted to 2I1; when the second outer stator three-phase winding fails, the input current of the second outer stator three-phase winding is adjusted to 0, and the amplitude of the input current of the first outer stator three-phase winding is adjusted to 2I1; when the first inner stator three-phase winding fails, the input current of the first inner stator three-phase winding is adjusted to 0, and the amplitude of the input current of the second inner stator three-phase winding is adjusted to 2I2; when the second inner stator three-phase winding fails, the input current of the second inner stator three-phase winding is adjusted to 0, and the amplitude of the input current of the first inner stator three-phase winding is adjusted to 2I2.

[0010] As a preferred embodiment of the present invention, the number of the first tooth groove and the number of the second tooth groove are the same, and the position of the first winding corresponds to the position of the second winding.

[0011] As a preferred embodiment of the present invention, the number of the first tooth groove and the second tooth groove is 36, and the first winding and the second winding are each provided with 3 sets.

[0012] As a preferred embodiment of the present invention, the rotor includes a core, the core having a first mounting cavity inside, one end of the first mounting cavity being open, the inner stator being disposed within the first mounting cavity, and the housing having a connector that extends into the first mounting cavity through the open end of the first mounting cavity and is connected to the inner stator.

[0013] As a preferred embodiment of the present invention, the rotor further includes a first magnet array and a second magnet array, the first magnet array being fixed on the outside of the core and the second magnet array being fixed on the inside of the core, the positions of the first magnet array and the second magnet array corresponding to the positions of the second magnet array.

[0014] As a preferred embodiment of the present invention, the front end of the first mounting cavity is open, the rear end of the first mounting cavity is provided with a rotating shaft coaxially arranged with the core, the inner stator is provided with a central hole, and a reduction assembly is provided in the central hole. The reduction assembly includes a gear ring, a sun gear, planet gears and a planet carrier. The gear ring is fixedly connected to the core, the sun gear is coaxially arranged in the gear ring and connected to the rotating shaft, the planet gears mesh with the gear ring and the sun gear respectively, the planet carrier is arranged at the front end of the sun gear, the rear end of the planet carrier is provided with a connecting shaft connected to the planet gears, and the front end of the planet carrier is provided with an output shaft coaxially arranged with the sun gear.

[0015] As a preferred embodiment of the present invention, multiple reduction gears are provided, and the multiple reduction gears are arranged sequentially from back to front. The output shaft is connected to the sun gear of the first reduction gear, and the connecting shaft of the preceding reduction gear is connected to the sun gear of the following reduction gear.

[0016] As a preferred embodiment of the present invention, a thrust bearing and a support pad are provided between two adjacent reduction components from back to front. The output shaft of the preceding reduction component passes through the thrust bearing and the support pad in sequence and is connected to the sun gear of the following reduction component.

[0017] As a preferred embodiment of the present invention, the number of teeth of the gear ring is the same as the number of stator teeth of the inner stator, and the position of the tooth bottom of the gear ring corresponds one-to-one with the position of the stator teeth of the inner stator.

[0018] As a preferred embodiment of the present invention, the gear ring is integrally formed with the second iron core.

[0019] This invention discloses a dual-stator fault-tolerant motor. Compared with the prior art, its advantages are as follows: the first outer stator three-phase winding, the second outer stator three-phase winding, the first inner stator three-phase winding, and the second inner stator three-phase winding can jointly drive the rotor to rotate, resulting in high output torque, fast response speed, compact structure, and small total weight, thus achieving a high power density. Furthermore, as long as any one of the first outer stator three-phase winding, the second outer stator three-phase winding, the first inner stator three-phase winding, or the second inner stator three-phase winding is functioning normally, this invention can still output power, exhibiting high fault tolerance and high reliability. In the event of a fault, appropriate control methods can ensure that the power density remains essentially unchanged before and after the fault, achieving a constant high power density output. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the outer stator, rotor, and inner stator of the present invention;

[0021] Figure 2 This is the input current diagram of the first external stator three-phase winding of the present invention;

[0022] Figure 3 This is the input current diagram of the second outer stator three-phase winding of the present invention;

[0023] Figure 4 This is a diagram of the output torque of the outer stator of the present invention;

[0024] Figure 5 This is a cross-sectional view of the present invention;

[0025] Figure 6 This is a structural diagram of the rotor of the present invention;

[0026] Figure 7 This is a structural diagram of the deceleration assembly of the present invention;

[0027] Figure 8 This is a structural diagram of the planetary carrier of the present invention;

[0028] Figure 9 This is a schematic diagram showing the positional relationship between the tooth base of the gear ring and the stator teeth of the inner stator of the present invention.

[0029] In the diagram, 1. Housing; 2. Outer stator; 21. First core; 211. First toothed slot; 22. First winding; 221. First A-phase winding; 222. First X-phase winding; 223. First B-phase winding; 224. First Y-phase winding; 225. First C-phase winding; 226. First Z-phase winding; 227. First outer stator three-phase winding; 228. Second outer stator three-phase winding; 3. Rotor; 31. Core; 311. First mounting cavity; 32. First magnet array; 33. Second magnet array; 34. Rotating shaft; 4. Inner stator; 41. 411. Second iron core; 42. Second tooth groove; 42. Second winding; 421. Second A-phase winding; 422. Second X-phase winding; 423. Second B-phase winding; 424. Second Y-phase winding; 425. Second C-phase winding; 426. Second Z-phase winding; 427. First inner stator three-phase winding; 428. Second inner stator three-phase winding; 43. Center hole; 54. Reduction assembly; 55. Gear ring; 56. Sun gear; 57. Planet gear; 58. Planet carrier; 59. Connecting shaft; 50. Output shaft; 51. Thrust bearing; 51. Support pad. Detailed Implementation

[0030] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] like Figure 1As shown, a preferred embodiment of the present invention provides a dual-stator fault-tolerant motor, comprising a housing 1 and an outer stator 2, a rotor 3, and an inner stator 4 coaxially mounted within the housing 1 from the outside to the inside. Specifically, the outer stator 2, rotor 3, and inner stator 4 are all housed within the housing 1. The outer stator 2 is mounted on the rotor 3, and the rotor 3 is mounted on the inner stator 4. The outer stator 2 and inner stator 4 are fixedly connected to the housing 1, and the rotor 3 can rotate relative to the outer stator 2 and inner stator 4 around an axis. The outer stator 2 includes a first iron core 21 and a first winding 22. Multiple first tooth slots 211 are evenly distributed on the inner circumference of the first iron core 21. Multiple sets of first windings 22 are evenly distributed around the axis of the rotor 3. Each first winding 22 includes a first A winding arranged counterclockwise. The first winding 22 consists of a first A-phase winding 221, a first X-phase winding 222, a first B-phase winding 223, a first Y-phase winding 224, a first C-phase winding 225, and a first Z-phase winding 226. Each phase winding of the first winding 22 is wound with alternate teeth in two adjacent first tooth slots 211. Generally, multiple first A-phase windings 221, multiple first X-phase windings 222, multiple first B-phase windings 223, multiple first Y-phase windings 224, multiple first C-phase windings 225, and multiple first Z-phase windings 226 are connected in series. It is understood that the number of first tooth slots 211 is 12 times the number of groups in the first winding 22. For example, in this embodiment, the first winding 22 has 3 groups. The number of slots 211 is 36. The first A-phase winding 221, the first B-phase winding 223, and the first C-phase winding 225 are combined to form the first outer stator three-phase winding 227. The first X-phase winding 222, the first Y-phase winding 224, and the first Z-phase winding 226 are combined to form the second outer stator three-phase winding 228. The inner stator 4 includes a second iron core 41 and a second winding 42. The outer periphery of the second iron core 41 is evenly distributed with multiple second slots 411. Multiple sets of second windings 42 are arranged, and the multiple sets of second windings 42 are evenly distributed around the axis of the rotor 3. The second windings 42 include the second A-phase winding 421, the second X-phase winding 422, the second B-phase winding 423, the second Y-phase winding 424, and the second C-phase winding arranged in a counterclockwise order. The winding 425 and the second Z-phase winding 426 are respectively wound in two adjacent second tooth slots 411 with alternate teeth. Generally, multiple second A-phase windings 421 are connected in series, multiple second X-phase windings 422 are connected in series, multiple second B-phase windings 423 are connected in series, multiple second Y-phase windings 424 are connected in series, multiple second C-phase windings 425 are connected in series, and multiple second Z-phase windings 426 are connected in series. The second A-phase windings 421, second B-phase windings 423 and second C-phase windings 425 are combined to form the first inner stator three-phase winding 427, and the second X-phase windings 422, second Y-phase windings 424 and second Z-phase windings 426 are combined to form the second inner stator three-phase winding 428.

[0033] During normal operation, the first outer stator three-phase winding 227, the second outer stator three-phase winding 228, the first inner stator three-phase winding 427, and the second inner stator three-phase winding 428 are respectively connected to three-phase current. The amplitude of the input current of the first outer stator three-phase winding 227 and the second outer stator three-phase winding 228 is I1, and the amplitude of the input current of the first inner stator three-phase winding 427 and the second inner stator three-phase winding 428 is I2.

[0034] The working principle of this embodiment is as follows: During operation, the first three-phase winding 227 and the second three-phase winding 228 of the outer stator 2 are respectively connected to three-phase currents. That is, the phase angle of the current input to two adjacent phase windings of the first three-phase winding 227 is 120°, and the phase angle of the current input to two adjacent phase windings of the second three-phase winding 228 is 120°. The first three-phase winding 227 and the second three-phase winding 228 generate magnetic fields, which interact with the magnet array on the rotor 3, thereby driving the rotor 3 to rotate. That is, the first three-phase winding 227 and the second three-phase winding 228 jointly drive the rotor 3 to rotate. Similarly, the first three-phase winding 42 of the inner stator 4... 7. The first inner stator three-phase winding 427 and the second inner stator three-phase winding 428 are respectively connected to three-phase current, that is, the first inner stator three-phase winding 427 and the second inner stator three-phase winding 428 jointly drive the rotor 3 to rotate. In summary, by controlling the direction of the input current, the first outer stator three-phase winding 227, the second outer stator three-phase winding 228, the first inner stator three-phase winding 427 and the second inner stator three-phase winding can be used to jointly drive the rotor 3 to rotate. Compared with the traditional three-phase motor, under the same conditions (the amplitude of the input current is the same), the output torque of this dual-stator fault-tolerant motor is 4 times that of the traditional three-phase motor. It can be regarded as four three-phase motors driving together. The output torque is high and the response speed is fast. Compared with setting four three-phase motors, this dual-stator fault-tolerant motor has... With its compact structure and low overall weight, this dual-stator fault-tolerant motor boasts a high power density. Furthermore, as long as any one of the following three-phase windings—the first outer stator 227, the second outer stator 228, the first inner stator 427, and the second inner stator 428—is functioning normally, the motor will still output power, demonstrating high reliability. Specifically, when the first outer stator 227 fails, its input current is adjusted to 0, and the amplitude of the input current of the second outer stator 228 is adjusted to 2I1; when the second outer stator 228 fails, its input current is adjusted to 0, and the amplitude of the input current of the first outer stator 227 is adjusted to 2I1. The amplitude of the input current of group 227 is adjusted to 2I1; when the first inner stator three-phase winding 427 fails, the input current of the first inner stator three-phase winding 427 is adjusted to 0, and the amplitude of the input current of the second inner stator three-phase winding 428 is adjusted to 2I2; when the second inner stator three-phase winding 428 fails, the input current of the second inner stator three-phase winding 428 is adjusted to 0, and the amplitude of the input current of the first inner stator three-phase winding 427 is adjusted to 2I2; the above-mentioned control method during faults can ensure that the output torque of this dual-stator fault-tolerant motor remains basically the same before and after the fault, that is, it can ensure that the power density remains basically unchanged before and after the fault, and achieve high power density constant output;It should be noted that each phase winding of the first winding 22 is wound in two adjacent first tooth slots 211 with alternate teeth, that is, a single-layer winding magnetic circuit distribution is adopted. When only one phase of the first winding 22 is energized, due to the principle of minimum magnetic reluctance, the magnetic circuit will pass through the fault-tolerant tooth (the stator tooth without a winding), and there are very few magnetic circuits connecting other phases, thus achieving magnetic isolation between the two phases, thereby ensuring that the faulty phase will not affect the normal phase.

[0035] like Figure 2-4 As shown, taking the failure of the second outer stator three-phase winding 228 as an example, before 0.004s, the amplitude of the input current of the first outer stator three-phase winding 227 and the second outer stator three-phase winding 228 are 20A respectively, and their output torques are basically the same, both being 14.5Nm, which together form the output torque of the outer stator 2, which is 29Nm; at 0.004s, the first X-phase winding 222 in the second outer stator three-phase winding 228 experiences an open-circuit fault, and its input current drops to 0, while the input current of the other phase windings remains unchanged. At this time, because the rotating magnetic field generated by the outer stator 2 is no longer symmetrical, and the work done by the first X-phase winding 222 becomes 0, therefore, from Figure 4 As can be seen, the output torque of the second outer stator three-phase winding 228 decreases, and the torque fluctuation increases. This increased torque fluctuation will cause the rotor 3 to vibrate violently. If it operates for a long time, it will greatly reduce its lifespan. Therefore, a correction adjustment is performed at 0.008s. The input currents of the first Y-phase winding 224 and the first Z-phase winding 226 are reduced to 0, that is, the input current of the second outer stator three-phase winding 228 is reduced to 0. The current amplitude of the first outer stator three-phase winding 227 is adjusted to 40A. After 0.008s, the output torque of the second outer stator three-phase winding 228 is zero, and the output torque of the first outer stator three-phase winding 227 is twice that before the correction adjustment, thus keeping the output torque of the outer stator 2 basically unchanged.

[0036] For example, the number of first slots 211 and second slots 411 is the same, and the position of the first winding 22 corresponds to the position of the second winding 42, which helps the rotor 3 to rotate smoothly during operation. For instance, the position of the first A-phase winding 221 corresponds to the position of the second A-phase winding 421, and the position of the first Z-phase winding 226 corresponds to the position of the second Z-phase winding 426. Figure 1 As shown, the rotor 3 is equipped with a magnetic pole array. When working, the current input direction of the first A-phase winding 221 is the same as the current input direction of the second A-phase winding 421, so they can interact with the magnetic pole array respectively and jointly drive the rotor 3 to rotate. In this embodiment, the number of the first slot 211 and the second slot 411 is 36, and the first winding 22 and the second winding 42 are both provided with 3 sets, resulting in a larger output torque.

[0037] For example, such as Figure 5-8As shown, the rotor 3 includes a core 31, and the core 31 has a first mounting cavity 311 inside. One end of the first mounting cavity 311 is open, and the inner stator 4 is disposed in the first mounting cavity 311 to facilitate the placement of the inner stator 4 into the first mounting cavity 311. The housing 1 is provided with a connector (such as a bolt), which passes through the open end of the first mounting cavity 311 and extends into the first mounting cavity 311, and is connected to the inner stator 4 to facilitate the fixed connection between the inner stator 4 and the housing 1.

[0038] For example, the rotor 3 also includes a first magnet array 32 and a second magnet array 33. The first magnet array 32 is fixed on the outside of the core 31, and the second magnet array 33 is fixed on the inside of the core 31. The positions of the first magnet array 32 and the second magnet array 33 correspond. The magnetic field generated by the outer stator 2 when it is working interacts with the first magnet array 32, and the magnetic field generated by the inner stator 4 when it is working interacts with the second magnet array 33. Generally, the core 31 is made of magnetic shielding material, so that the magnetic field on the outside of the core 31 and the magnetic field on the inside of the core 31 are isolated from each other, preventing mutual interference between the inner stator 4 and the outer stator 2, and ensuring the normal operation of the equipment.

[0039] For example, the front end of the first mounting cavity 311 is open, and the rear end of the first mounting cavity 311 is provided with a rotating shaft 34 coaxially arranged with the core 31. The second iron core 41 is provided with a central hole 43, and a reduction assembly 5 is provided in the central hole 43. The reduction assembly 5 includes a gear ring 51, a sun gear 52, planet gears 53, and a planet carrier 54. The gear ring 51 is fixedly connected to the core 31. The sun gear 52 is coaxially arranged in the gear ring 51 and connected to the rotating shaft 34. The planet gears 53 mesh with the gear ring 51 and the sun gear 52 respectively. The planet carrier 54 is located at the front end of the sun gear 52, and the rear end of the planet carrier 54 is provided with a connecting shaft connected to the planet gears 53. 541. The rear end of the planetary carrier 54 is provided with an output shaft 542 coaxially arranged with the sun gear 52. The rotation shaft 34 of the rotor 3 drives the sun gear 52 to rotate. Since the planet gears 53 mesh with the sun gear 52 and the gear ring 51 respectively, and the gear ring 51 is fixedly connected to the core 31, the planet gears 53 will rotate around the axis of the sun gear 52, thereby driving the output shaft 542 of the planetary carrier 54 to rotate. The transmission speed reduction is achieved through the corresponding gears, so that the output shaft 542 has the characteristics of low speed and high torque. The speed reduction assembly 5 is set in the inner stator 4, making the overall structure more compact. Moreover, compared with setting an additional speed reducer, the weight of the whole system is smaller.

[0040] For example, multiple reduction gears 5 are provided, arranged sequentially from back to front. The output shaft 542 is connected to the sun gear 52 of the first reduction gear 5, and the connecting shaft 541 of the previous reduction gear 5 is connected to the sun gear 52 of the next reduction gear 5. The multiple reduction gears 5 work together to increase the reduction ratio of the entire system.

[0041] For example, a thrust bearing 55 and a support pad 56 are arranged sequentially from back to front between two adjacent reduction components 5. The output shaft 542 of the first reduction component 5 passes through the thrust bearing 55 and the support pad 56 in sequence and is connected to the sun gear 52 of the second reduction component 5. The thrust bearing 55 can effectively prevent the reduction component 5 from moving axially, and the support pad 56 can prevent the sun gear 52 from directly contacting the thrust bearing 55.

[0042] For example, the number of teeth on the gear ring 51 is the same as the number of stator teeth on the inner stator 4, and the position of the tooth root on the gear ring 51 corresponds one-to-one with the position of the stator teeth on the inner stator 4. Specifically, as shown... Figure 9 As shown, the perpendicular bisector of the tooth root of the gear ring 51 coincides with the perpendicular bisector of the stator tooth of the inner stator 4 corresponding to that tooth root. The position of the tooth tip of the gear ring 51 corresponds one-to-one with the position of the second tooth groove 411 of the inner stator 4. That is, the perpendicular bisector of the tooth tip of the gear ring 51 coincides with the perpendicular bisector of the second tooth groove 411 of the inner stator 4 corresponding to that tooth tip. When the gear ring 51 is made of magnetic material, the magnetic lines of force will pass through the gear ring 51 when the inner stator 4 is working. The position of the tooth root of the gear ring 51 is exactly located in the part where no magnetic lines of force pass through. That is, the setting of the gear ring 51 will not affect the magnetic field generated when the inner stator 4 is working. Conversely, when the position of the tooth root of the gear ring 51 does not correspond to the position of the stator tooth root of the inner stator 4, the magnetic lines of force will pass through the position of the tooth root of the gear ring 51 when the inner stator 4 is working. Since the tooth root of the gear ring 51 is hollow, it will affect the magnetic field.

[0043] For example, the gear ring 51 is integrally formed with the second iron core 41 of the inner stator 4. That is, during manufacturing, the tooth roots of the gear ring 51 are machined into the inner wall of the center hole 43 of the second iron core 41 to form the gear ring 51. This helps to reduce the weight of the second iron core 41 and can reduce the number of connecting parts between the gear ring 51 and the second iron core 41, while not affecting the magnetic field generated by the inner stator 4 during operation.

[0044] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A dual-stator fault-tolerant motor, characterized in that: It includes a housing and an outer stator, a rotor, and an inner stator coaxially mounted in the housing from the outside to the inside. The outer stator and the inner stator are fixedly connected to the housing, and the rotor can rotate about an axis relative to the outer stator and the inner stator. The outer stator includes a first iron core and a first winding. The inner circumference of the first iron core is evenly distributed with a plurality of first tooth slots. The first winding is provided in multiple sets, which are evenly distributed around the axis of the rotor. The first winding includes a first A-phase winding, a first X-phase winding, a first B-phase winding, a first Y-phase winding, a first C-phase winding, and a first Z-phase winding arranged in a counterclockwise order. Each phase winding of the first winding is wound in two adjacent first tooth slots with a tooth gap. The first A-phase winding, the first B-phase winding, and the first C-phase winding are combined to form a first three-phase winding of the outer stator. The first X-phase winding, the first Y-phase winding, and the first Z-phase winding are combined to form a second three-phase winding of the outer stator. The inner stator includes a second iron core and a second winding. The outer circumference of the second iron core is evenly distributed with multiple second tooth slots. The second winding is provided in multiple sets, which are evenly distributed around the axis of the rotor. The second winding includes a second A-phase winding, a second X-phase winding, a second B-phase winding, a second Y-phase winding, a second C-phase winding, and a second Z-phase winding arranged in a counterclockwise order. Each phase winding of the second winding is wound in two adjacent second tooth slots with alternate teeth. The second A-phase winding, the second B-phase winding, and the second C-phase winding are combined to form a first inner stator three-phase winding. The second X-phase winding, the second Y-phase winding, and the second Z-phase winding are combined to form a second inner stator three-phase winding. During normal operation, the first outer stator three-phase winding, the second outer stator three-phase winding, the first inner stator three-phase winding, and the second inner stator three-phase winding are respectively connected to three-phase current. The amplitude of the input current of the first outer stator three-phase winding and the second outer stator three-phase winding is I1, and the amplitude of the input current of the first inner stator three-phase winding and the second inner stator three-phase winding is I2. When the first three-phase outer stator winding fails, the input current of the first three-phase outer stator winding is adjusted to 0, and the amplitude of the input current of the second three-phase outer stator winding is adjusted to 2I1; when the second three-phase outer stator winding fails, the input current of the second three-phase outer stator winding is adjusted to 0, and the amplitude of the input current of the first three-phase outer stator winding is adjusted to 2I1. When the first inner stator three-phase winding fails, the input current of the first inner stator three-phase winding is adjusted to 0, and the amplitude of the input current of the second inner stator three-phase winding is adjusted to 2I2. When a fault occurs in the second inner stator three-phase winding, the input current of the second inner stator three-phase winding is adjusted to 0, and the input current of the first inner stator three-phase winding is adjusted to an amplitude of 2I2.

2. The dual-stator fault-tolerant motor according to claim 1, characterized in that: The number of the first tooth groove and the second tooth groove are the same, and the position of the first winding corresponds to the position of the second winding.

3. The dual-stator fault-tolerant motor according to claim 2, characterized in that: The number of the first tooth groove and the second tooth groove are both 36, and the first winding and the second winding are both provided with 3 sets.

4. The dual-stator fault-tolerant motor according to claim 1, characterized in that: The rotor includes a core, and the core has a first mounting cavity inside. One end of the first mounting cavity is open. The inner stator is disposed in the first mounting cavity. The housing is provided with a connector. The connector passes through the open end of the first mounting cavity, extends into the first mounting cavity, and is connected to the inner stator.

5. The dual-stator fault-tolerant motor according to claim 4, characterized in that: The rotor also includes a first magnet array and a second magnet array. The first magnet array is fixed to the outside of the core, and the second magnet array is fixed to the inside of the core. The positions of the first magnet array and the second magnet array correspond to the positions of the second magnet array.

6. The dual-stator fault-tolerant motor according to claim 4, characterized in that: The first mounting cavity has an open front end and a rotating shaft coaxially arranged with the core at its rear end. The second iron core has a central hole, and a speed reduction assembly is provided inside the central hole. The speed reduction assembly includes a gear ring, a sun gear, planet gears, and a planet carrier. The gear ring is fixedly connected to the core. The sun gear is coaxially arranged inside the gear ring and connected to the rotating shaft. The planet gears mesh with the gear ring and the sun gear respectively. The planet carrier is located at the front end of the sun gear. The rear end of the planet carrier has a connecting shaft connected to the planet gears, and the front end of the planet carrier has an output shaft coaxially arranged with the sun gear.

7. The dual-stator fault-tolerant motor according to claim 6, characterized in that: Multiple speed reduction components are provided, arranged sequentially from back to front. The output shaft is connected to the sun gear of the first speed reduction component, and the connecting shaft of the preceding speed reduction component is connected to the sun gear of the following speed reduction component.

8. The dual-stator fault-tolerant motor according to claim 7, characterized in that: Between two adjacent reduction gear components, a thrust bearing and a support pad are arranged sequentially from back to front. The output shaft of the preceding reduction gear component passes through the thrust bearing and the support pad in sequence and then connects to the sun gear of the following reduction gear component.

9. The dual-stator fault-tolerant motor according to claim 6, characterized in that: The number of teeth on the gear ring is the same as the number of stator teeth on the inner stator, and the position of the tooth base on the gear ring corresponds one-to-one with the position of the stator teeth on the inner stator.

10. The dual-stator fault-tolerant motor according to claim 9, characterized in that: The gear ring is integrally formed with the second iron core.

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